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update

master
zhaohe 2 years ago
parent
ca80d7fd03
commit
804b964be4
2 changed files with 46 additions and 57 deletions
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  1. 15
      api/i_mini_servo_module.hpp
  2. 88
      zcancmder_protocol.hpp

15
api/i_mini_servo_module.hpp
View File

@ -13,32 +13,27 @@ class I_MiniServoModule {
typedef enum { kNormalStop, kBreakStop } StopType_t;
#pragma pack(1)
typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 has_run_time;
} rotate_cb_status_t;
typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 pos;
} move_to_cb_status_t;
typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 dpos;
} move_by_cb_status_t;
typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 has_run_time;
} run_with_torque_cb_status_t;
typedef struct {
u8 id;
u8 status;
u8 exec_status;
s32 pos;
} move_by_nolimit_cb_status_t;

88
zcancmder_protocol.hpp
View File

@ -2,6 +2,7 @@
#include <stdint.h>
#include "api/basic_type.hpp"
#include "api/i_mini_servo_module.hpp"
#include "api/i_step_motor_ctrl_module.hpp"
#include "api/i_xyrobot_ctrl_module.hpp"
#include "zcancmder_protocol_basic.hpp"
@ -32,8 +33,8 @@ typedef enum {
kcmd_xy_robot_ctrl_move_by = CMDID(1006, 5), // 机器人移动指定距离
kcmd_xy_robot_ctrl_force_change_current_pos = CMDID(1006, 6), // 强制修改当前位置
kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息
kcmd_xy_robot_ctrl_read_version = CMDID(1006, 50), // 读取模块型号版本信息
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 51), // 读取模块精简状态信息
kcmd_xy_robot_ctrl_read_detailed_status = CMDID(1006, 52), // 读取模块详细状态信息
kcmd_xy_robot_ctrl_set_run_param = CMDID(1006, 100), // 设置运行参数
@ -52,8 +53,8 @@ typedef enum {
kcmd_step_motor_ctrl_force_change_current_pos = CMDID(1007, 6), // 相对移动
kcmd_step_motor_ctrl_rotate = CMDID(1007, 7), // 相对移动
kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息
kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
kcmd_step_motor_ctrl_read_version = CMDID(1007, 50), // 读取模块型号版本信息
kcmd_step_motor_ctrl_read_status = CMDID(1007, 51), // 读取模块精简状态信息
kcmd_step_motor_ctrl_read_detailed_status = CMDID(1007, 52), // 读取模块详细状态信息
kcmd_step_motor_ctrl_set_run_param = CMDID(1007, 100), // 设置运行参数
@ -72,14 +73,16 @@ typedef enum {
kcmd_mini_servo_ctrl_run_with_torque = CMDID(1008, 6), // 开环扭矩模式
kcmd_mini_servo_ctrl_move_by_nolimit = CMDID(1008, 7), // 相对移动,位置模式无限制,移动不受最大位置和最小位置限制，但无法读取到当前位置
kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息
kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息
kcmd_mini_servo_ctrl_read_version = CMDID(1008, 50), // 读取模块型号版本信息
kcmd_mini_servo_ctrl_read_status = CMDID(1008, 51), // 读取模块精简状态信息
kcmd_mini_servo_ctrl_read_detailed_status = CMDID(1008, 52), // 读取模块详细状态信息
kcmd_mini_servo_ctrl_set_run_param = CMDID(1008, 100),
kcmd_mini_servo_ctrl_get_run_param = CMDID(1008, 101),
kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 101),
kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 102),
kcmd_mini_servo_ctrl_set_warning_limit_param = CMDID(1008, 102),
kcmd_mini_servo_ctrl_get_warning_limit_param = CMDID(1008, 103),
kcmd_mini_servo_ctrl_set_basic_param = CMDID(1008, 104),
kcmd_mini_servo_ctrl_get_basic_param = CMDID(1008, 105),
/*******************************************************************************
* |Module_1009:EEPROM *
@ -100,8 +103,8 @@ typedef enum {
kcmd_heater_ctrl_module_start_ctrl_temperature = CMDID(1011, 0), // 设置目标温度
kcmd_heater_ctrl_module_read_stop_temperature = CMDID(1011, 1), // 读取停止温度
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
kcmd_heater_ctrl_module_read_version = CMDID(1011, 50), // 读取模块型号版本信息
kcmd_heater_ctrl_module_read_status = CMDID(1011, 51), // 读取模块精简状态信息
kcmd_heater_ctrl_module_read_detailed_status = CMDID(1011, 52), // 读取模块详细状态信息
kcmd_heater_ctrl_module_set_run_param = CMDID(1011, 100), // 设置运行参数
@ -118,8 +121,8 @@ typedef enum {
kcmd_optical_barcode_reader_motor_stop = CMDID(1012, 8), // 电机停止
kcmd_optical_barcode_reader_motor_enable = CMDID(1012, 9), // 电机使能
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
kcmd_optical_barcode_reader_read_version = CMDID(1012, 50), // 读取模块型号版本信息
kcmd_optical_barcode_reader_read_status = CMDID(1012, 51), // 读取模块精简状态信息
kcmd_optical_barcode_reader_read_detailed_status = CMDID(1012, 52), // 读取模块详细状态信息
kcmd_optical_barcode_reader_set_run_param = CMDID(1012, 100), // 设置运行参数
@ -138,8 +141,8 @@ typedef enum {
kcmd_board_clamp_module_moter_stop = CMDID(1013, 5), // 电机停止
kcmd_board_clamp_module_moter_enable = CMDID(1013, 6), // 电机使能
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
kcmd_board_clamp_module_read_version = CMDID(1013, 50), // 读取模块型号版本信息
kcmd_board_clamp_module_read_status = CMDID(1013, 51), // 读取模块精简状态信息
kcmd_board_clamp_module_read_detailed_status = CMDID(1013, 52), // 读取模块详细状态信息
kcmd_board_clamp_module_set_run_param = CMDID(1013, 100), // 设置运行参数
@ -150,8 +153,8 @@ typedef enum {
/*******************************************************************************
* |Module_1014:风扇 *
*******************************************************************************/
kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制
kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息
kcmd_fan_module_fan_ctrl = CMDID(1014, 0), // 风扇控制
kcmd_fan_module_fan_read_status = CMDID(1014, 50), // 读取模块精简状态信息
kcmd_fan_module_fan_read_detailed_status = CMDID(1014, 51), // 读取模块详细状态信息
// 串口透传
@ -179,8 +182,8 @@ typedef enum {
kcmd_pipette_module_take_tip = CMDID(1016, 6), // 取tip
kcmd_pipette_module_remove_tip = CMDID(1016, 7), // 移除tip
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_version = CMDID(1016, 50), // 读取模块型号版本信息
kcmd_pipette_module_read_status = CMDID(1016, 51), // 读取模块精简状态信息
kcmd_pipette_module_read_detailed_status = CMDID(1016, 52), // 读取模块详细状态信息
kcmd_pipette_module_set_run_param = CMDID(1016, 100), // 设置运行参数
@ -251,37 +254,28 @@ ZPACKET_CMD_ACK(kcmd_step_motor_ctrl_set_run_to_zero_param, CMD(u8 id; u8 opt_ty
/*******************************************************************************
* |Module_1008:舵机 *
*******************************************************************************/
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable, CMD(u8 id; u8 enable;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop, CMD(u8 id; u8 stop_type;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate, CMD(u8 id; s32 calibrate_pos;), ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_enable,
CMD(u8 id; u8 enable;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_stop,
CMD(u8 id; u8 stop_type;), //
ACK(u8 id;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_position_calibrate,
CMD(u8 id; s32 calibrate_pos;), //
ACK(u8 id;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate, CMD(u8 id; s32 speed; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::rotate_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_to_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque, CMD(u8 id; s32 torque; s32 run_time;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::run_with_torque_cb_status_t report;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit, CMD(u8 id; s32 pos; s32 speed; s32 torque;), ACK(u8 id;), REPORT(u8 id; I_MiniServoModule::move_by_nolimit_cb_status_t report;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::version_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::status_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u8 id;), ACK(u8 id; I_MiniServoModule::detailed_status_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u8 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::run_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::basic_param_t ack;));
ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u8 id; u8 opt_type;), ACK(u8 id; I_MiniServoModule::warning_limit_param_t ack;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_rotate,
CMD(u8 id; s32 speed; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_to,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_run_with_torque,
CMD(u8 id; s32 torque; s32 run_time;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 has_run_time;));
ZPACKET_CMD_ACK_AND_REPORT(kcmd_mini_servo_ctrl_move_by_nolimit,
CMD(u8 id; s32 pos; s32 speed; s32 torque;), //
ACK(u8 id;), //
REPORT(u8 id; u8 status; s32 pos;));
/*******************************************************************************
* |Module_1009:EEPROM *
*******************************************************************************/

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